Modeling of Operator Poses in an Automated Control System for a Collaborative Robotic Process

Abstract

One of the most effective ways to ensure the competitiveness of industrial enterprises is the integrated automation of technological processes. Technological processes with a high degree of non-determinism of the internal and external environment can be automated using collaborative systems. However, at the moment, the potential of collaborative robotic processes is not fully realized. I In particular, effective safety issues of the cobot's control algorithms have not been resolved in the event of an emergency situation that can lead to negative consequences in relation to other objects of the working area - another robot, operator, product, equipment. It becomes obvious that there are simulation models of the collaborative process, including the digital twin of the operator in modeling and predicting the kinematics of his movement. The presence of a forecast can prevent the risk of an unsafe situation in the process of technology execution or in testing mode in time. In the course of the research, a model of the kinematics of the operator's movement is presented (integrable into the general model of the technological process), based on standard poses and adequate in terms of motion dynamics. The model serves to visualize the set poses of a person, allows to track the admissibility and effectiveness of the execution of the robot's control optimization algorithms, and adequately reflects the dynamics of the operator's movements.